release repository

tests/ik_module_test.py

@@ -0,0 +1,131 @@
+#
+# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+# property and proprietary rights in and to this material, related
+# documentation and any modifications thereto. Any use, reproduction,
+# disclosure or distribution of this material and related documentation
+# without an express license agreement from NVIDIA CORPORATION or
+# its affiliates is strictly prohibited.
+#
+# Third Party
+import pytest
+import torch
+
+# CuRobo
+from curobo.geom.sdf.world import (
+    CollisionCheckerType,
+    WorldCollisionConfig,
+    WorldPrimitiveCollision,
+)
+from curobo.geom.sdf.world_mesh import WorldMeshCollision
+from curobo.geom.types import WorldConfig
+from curobo.types.base import TensorDeviceType
+from curobo.types.math import Pose
+from curobo.types.robot import RobotConfig
+from curobo.util_file import get_robot_configs_path, get_world_configs_path, join_path, load_yaml
+from curobo.wrap.reacher.ik_solver import IKSolver, IKSolverConfig
+
+
+@pytest.fixture(scope="module")
+def ik_solver():
+    tensor_args = TensorDeviceType()
+    world_file = "collision_cubby.yml"
+
+    robot_file = "franka.yml"
+    robot_cfg = RobotConfig.from_dict(
+        load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
+    )
+    world_cfg = WorldConfig.from_dict(load_yaml(join_path(get_world_configs_path(), world_file)))
+    ik_config = IKSolverConfig.load_from_robot_config(
+        robot_cfg,
+        world_cfg,
+        rotation_threshold=0.05,
+        position_threshold=0.005,
+        num_seeds=100,
+        self_collision_check=True,
+        self_collision_opt=True,
+        tensor_args=tensor_args,
+        use_cuda_graph=False,
+    )
+    ik_solver = IKSolver(ik_config)
+    return ik_solver
+
+
+@pytest.fixture(scope="module")
+def ik_solver_batch_env():
+    tensor_args = TensorDeviceType()
+    world_files = ["collision_table.yml", "collision_cubby.yml", "collision_test.yml"]
+    world_cfg = [
+        WorldConfig.from_dict(load_yaml(join_path(get_world_configs_path(), world_file)))
+        for world_file in world_files
+    ]
+    robot_file = "franka.yml"
+    robot_cfg = RobotConfig.from_dict(
+        load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
+    )
+    ik_config = IKSolverConfig.load_from_robot_config(
+        robot_cfg,
+        world_cfg,
+        rotation_threshold=0.05,
+        position_threshold=0.005,
+        num_seeds=100,
+        self_collision_check=True,
+        self_collision_opt=True,
+        tensor_args=tensor_args,
+        use_cuda_graph=False,
+    )
+    ik_solver = IKSolver(ik_config)
+    return ik_solver
+
+
+def test_ik_single(ik_solver):
+    q_sample = ik_solver.sample_configs(1)
+    kin_state = ik_solver.fk(q_sample)
+    goal = Pose(kin_state.ee_position, kin_state.ee_quaternion)
+    result = ik_solver.solve_single(goal)
+
+    success = result.success
+    assert success.item()
+
+
+def test_ik_goalset(ik_solver):
+    q_sample = ik_solver.sample_configs(10)
+    kin_state = ik_solver.fk(q_sample)
+    goal = Pose(kin_state.ee_position.unsqueeze(0), kin_state.ee_quaternion.unsqueeze(0))
+    result = ik_solver.solve_goalset(goal)
+
+    assert result.success.item()
+
+
+def test_ik_batch(ik_solver):
+    q_sample = ik_solver.sample_configs(10)
+    kin_state = ik_solver.fk(q_sample)
+    goal = Pose(kin_state.ee_position, kin_state.ee_quaternion)
+    result = ik_solver.solve_batch(goal)
+    assert torch.count_nonzero(result.success) > 5
+
+
+def test_ik_batch_goalset(ik_solver):
+    q_sample = ik_solver.sample_configs(100)
+    kin_state = ik_solver.fk(q_sample)
+    goal = Pose(kin_state.ee_position.view(10, 10, 3), kin_state.ee_quaternion.view(10, 10, 4))
+    result = ik_solver.solve_batch_goalset(goal)
+    assert torch.count_nonzero(result.success) > 5
+
+
+def test_ik_batch_env(ik_solver_batch_env):
+    q_sample = ik_solver_batch_env.sample_configs(3)
+    kin_state = ik_solver_batch_env.fk(q_sample)
+    goal = Pose(kin_state.ee_position, kin_state.ee_quaternion)
+    result = ik_solver_batch_env.solve_batch_env(goal)
+
+    assert torch.count_nonzero(result.success) >= 1
+
+
+def test_ik_batch_env_goalset(ik_solver_batch_env):
+    q_sample = ik_solver_batch_env.sample_configs(3 * 3)
+    kin_state = ik_solver_batch_env.fk(q_sample)
+    goal = Pose(kin_state.ee_position.view(3, 3, 3), kin_state.ee_quaternion.view(3, 3, 4))
+    result = ik_solver_batch_env.solve_batch_env_goalset(goal)
+    assert torch.count_nonzero(result.success) >= 2